void
TaskBlinkNested::threadMain(void)
{
if (os.isDebug())
{
os.sched.lock.enter();
{
debug.putString("Thread '");
debug.putString(getName());
debug.putString("', led=");
debug.putDec((unsigned short)m_oLed.bitNumber());
debug.putString(", divider=");
debug.putDec((unsigned short)m_rate);
debug.putNewLine();
}
os.sched.lock.exit();
}
#if !defined(APP_EXCLUDE_TASKBLINKNESTED_TASKMAIN_LED)
// initialise led port as output
m_oLed.init();
#endif
interruptInit();
bool bSecond;
bSecond = false;
// thread endless loop
for (;;)
{
#if true
os.sched.eventWait(APP_CFGINT_TASKBLINKNESTED_EVENT);
#else
os.sched.yield();
#endif
os.sched.critical.enter();
{
if (m_count >= m_rate)
{
m_count -= m_rate;
bSecond = true;
}
}
os.sched.critical.exit();
if (bSecond)
{
bSecond = false;
debug.putChar('.');
#if !defined(APP_EXCLUDE_TASKBLINKNESTED_TASKMAIN_LED)
// finally toggle led
m_oLed.toggle();
#endif
}
}
}
static void peripheryInit()
{
settingPeripheryCLK();
interruptInit();
adcCalibrate();
peripheryClockEnable();
initGPIO();
}
/** Main program entry point. This routine contains the overall program flow, including initial
* setup of all components and the main program loop.
*/
int main(void)
{
SetupHardware();
setupIO();
interruptInit();
/* Create a regular character stream for the interface so that it can be used with the stdio.h functions */
CDC_Device_CreateStream(&VirtualSerial_CDC_Interface, &USBSerialStream);
sei();
while (1)
{
/* Must throw away unused bytes from the host, or it will lock up while waiting for the device */
CDC_Device_ReceiveByte(&VirtualSerial_CDC_Interface);
CDC_Device_USBTask(&VirtualSerial_CDC_Interface);
USB_USBTask();
}
}
void DeviceCAN_AT90CAN::implInit(unsigned char mode)
{
OSDeviceDebug::putString_P(PSTR("DeviceCAN_AT90CAN::implInit()"));
OSDeviceDebug::putNewLine();
transceiverInit();
Can_reset();
interruptInit(); // must be after reset()
/* CAN_KING setting */
/* 125K, 75%, Tq=0.5uS, Tbit=16*Tq=8uS */
/* Tprs=7*Tq, Tph1=4*Tq, Tph2=4*Tq, Tsjw=1*Tq */
CANBT1 = 0x0E; /* 125K@16MHz */
CANBT2 = 0x0C;
CANBT3 = 0x37;
can_clear_all_mob();
// enable reception on the reception mob
Can_set_mob(NB_MOB_RX);
Can_config_rx();
// enable both RX and TX mobs
CANEN2 = _BV(NB_MOB_RX) | _BV(NB_MOB_TX);
// enable interrupts for both RX and TX mobs
CANIE2 = _BV(NB_MOB_RX) | _BV(NB_MOB_TX);
mode = mode; // set to given mode
Can_enable();
transceiverHighSpeed();
//OSDebugLed2::init();
interruptEnable();
m_isConnected = true;
}
int main(void) {
char str_buffer[16];
SystemCoreClockUpdate();
gpioInit();
interruptInit();
adcInit();
Chip_PMU_GetSleepFlags(LPC_PMU);
Chip_PMU_ClearSleepFlags(LPC_PMU, PMU_PCON_DPDFLAG);
Chip_SPI_Init(SPI_PORT);
SysTick_Config(Chip_Clock_GetSystemClockRate() / TICKRATE_HZ);
//StuckI2CHack();
delayms(10);
MoonLander_I2C_Init(SENSOR_I2C, MOONLANDER_I2C_100K);
delayms(100);
// Initialize sensors:
HTU21D_Init(&g_HTU21D, SENSOR_I2C);
delayms(10);
HMC5883L_Init(&g_HMC5883L, SENSOR_I2C);
delayms(10);
HMC5883L_SetRange(&g_HMC5883L, HMC5883L_RANGE_2_5);
eGFX_InitDriver();
C12832A_Init(&g_C12832A, SPI_PORT, LCD_A0_PIN, LCD_RST_PIN, LCD_SSEL);
delayms(10);
Plot_Init(&g_plot_temp, -10, 40, "Temp (C)", 0);
Plot_Init(&g_plot_rh, 0, 100, "RH", 0);
Plot_Init(&g_plot_mag, -400, 300, "uTesla", 1);
Plot_SetSpecialValue(&g_plot_mag, 9000, "OL");
Compass_Init(&g_compass);
g_left_display = DISPLAY_TEMP;
g_right_display = DISPLAY_COMPASS;
// Straight to sleep on boot:
g_go_to_sleep = 1;
// Or not:
//g_go_to_sleep = 0;
//wakeup();
while(1) {
fillScreen(0x0);
if (g_go_to_sleep) {
// Write the empty back buffer to the screen:
eGFX_Dump(&eGFX_BackBuffer, &g_C12832A);
g_ignore_switches = 1;
// Sleep!
goToSleep();
// Processor has been woken up, restart clocks, etc.:
wakeup();
delayms(SW_DEBOUNCE_MS);
g_ignore_switches = 0;
}
switch (g_left_display) {
case DISPLAY_TEMP:
Plot_Draw(&eGFX_BackBuffer, &g_plot_temp, PLOT_LEFT);
break;
case DISPLAY_RH:
Plot_Draw(&eGFX_BackBuffer, &g_plot_rh, PLOT_LEFT);
break;
case DISPLAY_MAG:
Plot_Draw(&eGFX_BackBuffer, &g_plot_mag, PLOT_LEFT);
break;
case DISPLAY_COMPASS:
Compass_Draw(&eGFX_BackBuffer, &g_compass, COMPASS_LEFT);
break;
case DISPLAY_RANGE:
eGFX_DrawString(&eGFX_BackBuffer, "Range", 24, 1, &FONT_3_5_1BPP);
sprintf(str_buffer, "%0.2f cm", getRangeCentimeters());
eGFX_DrawString(&eGFX_BackBuffer, str_buffer, 24, 13, &FONT_3_5_1BPP);
break;
default:
break;
}
switch (g_right_display) {
case DISPLAY_TEMP:
Plot_Draw(&eGFX_BackBuffer, &g_plot_temp, PLOT_RIGHT);
break;
case DISPLAY_RH:
Plot_Draw(&eGFX_BackBuffer, &g_plot_rh, PLOT_RIGHT);
break;
case DISPLAY_MAG:
Plot_Draw(&eGFX_BackBuffer, &g_plot_mag, PLOT_RIGHT);
break;
case DISPLAY_COMPASS:
Compass_Draw(&eGFX_BackBuffer, &g_compass, COMPASS_RIGHT);
break;
case DISPLAY_RANGE:
eGFX_DrawString(&eGFX_BackBuffer, "Range", 88, 1, &FONT_3_5_1BPP);
sprintf(str_buffer, "%0.2f cm", getRangeCentimeters());
eGFX_DrawString(&eGFX_BackBuffer, str_buffer, 88, 13, &FONT_3_5_1BPP);
break;
default:
break;
}
eGFX_Dump(&eGFX_BackBuffer, &g_C12832A);
}
return 0 ;
}